Changed setForce mode to startForceMode and endForceMode. Also made c…

…hanges to account for changes in msg in PR (ros-industrial/ur_msgs#20)
URJala · Jul 3, 2024 · 5c4d560 · 5c4d560
1 parent cc55afa
commit 5c4d560
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Showing 2 changed files with 241 additions and 204 deletions.
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.h b/ur_robot_driver/include/ur_robot_driver/hardware_interface.h
@@ -216,7 +216,8 @@ class HardwareInterface : public hardware_interface::RobotHW
   void commandCallback(const std_msgs::StringConstPtr& msg);
   bool setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::SetPayloadResponse& res);
   bool activateSplineInterpolation(std_srvs::SetBoolRequest& req, std_srvs::SetBoolResponse& res);
-  bool setForceMode(ur_msgs::SetForceModeRequest& req, ur_msgs::SetForceModeResponse& res);
+  bool startForceMode(ur_msgs::SetForceModeRequest& req, ur_msgs::SetForceModeResponse& res);
+  bool endForceMode(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
 
   std::unique_ptr<urcl::UrDriver> ur_driver_;
   std::unique_ptr<DashboardClientROS> dashboard_client_;
@@ -241,7 +242,8 @@ class HardwareInterface : public hardware_interface::RobotHW
   ros::ServiceServer tare_sensor_srv_;
   ros::ServiceServer set_payload_srv_;
   ros::ServiceServer activate_spline_interpolation_srv_;
-  ros::ServiceServer set_force_mode_srv_;
+  ros::ServiceServer start_force_mode_srv_;
+  ros::ServiceServer end_force_mode_srv_;
 
   hardware_interface::JointStateInterface js_interface_;
   scaled_controllers::ScaledPositionJointInterface spj_interface_;